4.1.6. SOS(Safe Operating Stop)

4.1.6. SOS(Safe Operating Stop)

 

Safe operating stop parameters could be configured by 2 joint groups for monitoring stop state. Each joint could be selected activation and set tolerance of joint angle or distance.

If the SOS is activated, each axis will be monitored whether the joint moves or not. When the joint movement exceeds configured tolerance, STO will be triggered. 

 

Table 4‑6 Safe operating stop parameters

Safe Operating Stop parameter: 8 axes
Parameter name	Value	Description
Monitoring in joint group1	On/Off	Off=This axis is included in group1 On=This axis isn’t included in group1 Default: Off
Monitoring in joint group2	On/Off	Off=This axis is included in group2 On=This axis isn’t included in group2 Default: Off
Joint tolerance	0.001~1(°) 0.003~3(mm)	Permitted joint tolerance of SOS. Default: 0.01